一种基于风机局部图像的桨叶叶尖定位方法  

Blade Tip Location Method Based on Local Wind Turbine Image

作　　者：焦嵩鸣[1] 张彪 JIAO Songming;ZHANG Biao(School of Control and Computer Engineering,North China Electric Power University,Baoding 071003,China)

机构地区：[1]华北电力大学控制与计算机工程学院,河北保定071003

出　　处：《华北电力大学学报(自然科学版)》2025年第2期126-133,共8页Journal of North China Electric Power University:Natural Science Edition

摘　　要：针对无人机自主巡检风机需对桨叶进行精准定位的问题,设计了一种基于风机局部图的无人机位姿修正和叶尖定位系统。无人机依据风机参数飞至指定位置获取风机局部图,使用Yolov5实现对轮毂、塔筒的目标检测和特征提取。对概率渐进式Hough直线检测结果筛选后,利用K-means聚类得到桨叶中心线,依靠轮毂特征和桨叶中心线夹角更新无人机位姿,获取近距离粗略正对风机局部图。设计无人机位姿修正系统并对其收敛性进行了证明,该系统以风机局部图中像素坐标差值作为偏差控制量,计算世界坐标系下无人机运动量,实现无人机正对风机,轮毂位置位于图像中心。最后,结合无人机位姿信息与风机参数解算桨叶叶尖坐标,实现叶尖精准定位。该算法基于Gazebo仿真实现,定位精度达亚米级,为风机运维提供理论依据。Aiming at the problem of precise positioning of the blades during autonomous inspection of wind turbines by drones,we design a drone pose correction and blade tip positioning system based on local wind turbine images.Firstly,the drone navigates to the specified location based on wind turbine parameters to obtain local images of the turbine,and Yolov5 is used to detect and extract features of the hub and tower.Secondly,after filtering the probabilistic progressive Hough line detection results,we obtain the center lines of the blades by K-means clustering.Relying on the hub feature and the angles between the blade center lines,we update the drone pose to obtain a rough and close-up image of the wind turbine.Thirdly,we design a drone pose correction system and demonstrate its convergence.This system use the pixel coordinate difference in the local wind turbine image as the deviation control variable,calculate the drone motion in the world coordinate system,and align the drone with the wind turbine,placing the hub at the center of the image.Finally,we calculate the blade tip coordinates by combining drone pose information and wind turbine parameters to realize accurate blade tip positioning.The algorithm is based on Gazebo simulation,and the positioning accuracy reaches the submeter level,serving as a theoretical foundation for wind turbine operation and maintenance.

关 键 词：目标检测 图像处理 位姿修正 桨叶叶尖 精准定位 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP242[自动化与计算机技术—检测技术与自动化装置]